It is really important you understand the underlying math of an omniwheeled system. It's not terribly complex but it really makes things easier. I have a somewhat working omniwheeled robot that I am working on at the moment. It uses 3 wheels instead of the 4 you want.

Sometimes a term will disappear from the calculations because it's 0, sometimes it's simplified because it's 1. You need to figure out what angles your wheels are at and create the formulae for your Vw1, Vw2, Vw3 and Vw4.

I am not going to give you the answers, you have all the information here for a robot with 3 and a generic formula.

I have figured out all the codes and the 4 wheel coding and alot of the formulas drop out with the use of the wheel angles. So it is simple. I am confused where the Vb and the Angle the body is traveling (At) comes from.

Are you using a gyro for input.

I have developed an array to draw the sine and cosine vales from vice using the nxt to calculate them each time. This should speed up the process.

I have also written a code for using joysticks to directly control the motors will this work in direct control modes.

I have figured out all the codes and the 4 wheel coding and alot of the formulas drop out with the use of the wheel angles. So it is simple. I am confused where the Vb and the Angle the body is traveling (At) comes from.

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